"To avoid damage to steering rack while removing tie rod, turn steering until end of rack as far as possible in housing"

That is correct. And to put it more plainly:

"When removing & installing the left inner tie rod, turn the steering wheel as far as possible to the right. When removing & installing the right inner tie rod, turn the steering wheel as far as possible to the left."

On some vehicles, doing ^^this^^ will make it impossible to access the nut without a special inner tie rod tool. Which is why the manual states "as far as possible" rather than "all the way in".